Casual dinner recommendations near Kensington or walking distance to Waterloo

[hackneyhalver]

I’m a Londoner but live in East and try to avoid venturing into the crowded bits of touristy West London wherever possible! I do know the area as years ago I lived in Notting Hill but so much has changed since then! Anyway looking for a specific recommendation from anyone who lives round or frequents that area?
I’m visiting Kensington Palace with my old school friend. We haven’t seen each other in about 2 years so it’s a long overdue catch up. Afterwards we want to go and have an early dinner somewhere we can linger and chat for ages. Nothing too bouji or £££, somewhere relaxed but with delicious food and nice setting, and ideally not a chain you get everywhere. This could be walking distance to Kensington Gardens or on the way back to Waterloo (eg Westminster / Lambeth bridge) where we could get off and walk to Waterloo afterwards - my school friend will be getting a train to the south.
Any insights please?

Dishoom, Kensington is fantastic and pretty casual. It’s right across the road if you fancy an Indian.

Azurro - Italian restaurant opposite Waterloo Station. There are lots of restaurants on the South Bank, five minutes from the station.

Thanks - I’m not a fan of Dishoom and the queuing.
South Bank too touristy / daytime for what I’m after.

The Ivy is near Kensington Palace. Not too pricey if you have the set menu.

I am a Londoner so not looking for “South bank has loads of restaurants” type recommendations! More of a local knowledge well kept secret place that people living in that area might suggest.

There's a Tas on The Cut, if you like Turkish. At the far end past Young Vic and opposite Southwark. I wouldn't call it a 'locals secret' but it's a bit further than tourists tend to walk.

Bit late seeing this thread so I expect it will come too late, but I have a couple suggestions for good places to eat near Waterloo: Roti King on Lower Marsh (this was their second site, original is near Euston, its great but does get busy) and the Anchor & Hope on the Cut, pretty much opposite the Tas (more expensive than Roti King as bit more up market).